JP7625966B2 - Unbound paper bundle packaging device - Google Patents

Description

The present invention relates to an unbundled paper bundle packaging device for transporting unbundled paper bundles placed on a pallet as an accumulation unit and packaging them in a packaging box.
The paper stack is a stack of multiple sheets of paper.

2. Description of the Related Art As an apparatus for packing paper bundles into boxes (packaging), there is a boxing apparatus described in, for example, Japanese Patent Application Laid-Open No. 2003-233666.
In the packing device described in Patent Document 1, when a stack of paper is transported to a packaging box, a band is attached to the stack of paper being transported, and the band portion is adsorbed by an adsorption means to grasp the stack of paper and transport it to the packaging destination, and the stack of paper is stored from the top into the packaging box with the top open.

JP 2001-97325 A

However, the method described in Patent Document 1, in which a paper bundle is gripped by a suction means and transported to a packaging destination, is difficult to apply to unbound paper bundles.

In addition, to automatically package unbound paper bundles, for example, it is necessary to insert the claws of a gripping mechanism between the pallet and the underside of the paper bundle to grip the paper bundle from above and below, and then lift the paper bundle off the pallet. However, pallets usually do not have gaps for the claws to be inserted, and the paper bundle tends to collapse, making it difficult to grip unbound paper bundles.

The present invention was developed with the above points in mind, and aims to make it possible to store unbound paper bundles more reliably in packaging boxes.

To solve this problem, one aspect of the present invention is an unbundled paper bundle packaging device having a transport device that grips unbundled paper bundles placed on a pallet on the accumulation side and transports them to a packaging destination, in which a plurality of slits are formed in parallel on the upper surface of the pallet, and the unbundled paper bundles can be supported by the upper end surfaces of the plurality of slits, and the transport device has a lower gripping portion that can be inserted between the slits of the pallet and an upper gripping portion that can abut against the upper surface of the paper bundle placed on the pallet, and the lower gripping portion and the upper gripping portion can grip the paper bundle on the pallet.

According to this aspect of the present invention, the upper surface of the pallet is configured to have a gap into which the lower gripping part can be inserted, so that even if the paper stacks loaded on the pallet are not bound, the paper stacks on the pallet can be gripped while preventing the paper stacks from collapsing.

As a result, according to this aspect of the present invention, unbound paper bundles can be transported from the pallet, which is the stacking unit, to the packaging destination and stored in a packaging box.

1 is a schematic configuration diagram of an unbundled paper bundle packaging device according to an embodiment of the present invention. FIG. 2 is a perspective view illustrating the shape of the mounting surface of the pallet on the accumulation side. 5A and 5B are diagrams illustrating the configuration of a hand unit of a transport device, in which FIG. 5A and 5B are diagrams illustrating the operation of the rocking mechanism, in which FIG. 11 is a side view illustrating a storing operation of the paper bundle storing device. FIG. 1A and 1B are schematic diagrams showing examples of states of paper stacks placed on a pallet; 13 is a plan view showing an example of the arrangement of a flap position correction mechanism. FIG. FIG. 4 is a side view illustrating the flap position correction mechanism.

Next, an embodiment of the present invention will be described with reference to the drawings.
(composition)
The unbundled paper bundle packaging device shown in FIG. 1 includes a stacking unit, a transport device, a paper bundle storage device, and a packaging box inverting device.

<Integration unit>
The stacking unit is composed of a stacking pallet 1. On the pallet 1, a plurality of sets of paper bundles 2 are loaded in a flat pile.

Each paper stack 2 is made of a stack of paper cut into a desired shape. In this embodiment, the paper stacks 2 are stacked on a pallet in an unbound state. The shape of the paper is not limited to a rectangle. Each piece of paper has, for example, a shape obtained by unfolding a predetermined package shape (e.g., a three-dimensional shape such as a box shape).
The paper bundles 2 are stacked (accumulated) on the pallet 1 facing in the same or different directions.

As shown in FIG. 2, the pallet 1 of this embodiment has a plurality of slits 1A formed on the upper surface (loading surface) so as to be aligned in the same direction.
The upper surface 1Aa of the slit 1A can support the lower surface of each paper stack 2. That is, the slit 1A is configured so that each paper stack 2 can abut against the upper surfaces 1Aa of two or more slits 1A.

In addition, the width between adjacent slits 1A is wider than the width of the lower gripping portion 41 of the conveying device, and the height of the slits 1A is higher than the height of the lower gripping portion 41.
The conveying device of this embodiment has a plurality of lower gripping parts 41. The width of the slits 1A and the interval between the slits 1A are set so that the plurality of lower gripping parts 41 can be simultaneously inserted into the spaces between the slits 1A. It is preferable that the width of the slits 1A and the interval between the slits 1A are set to a common width and interval corresponding to different product types.

The pallet 1 carrying the paper stacks 2 is transported by the conveyor 3 to the gripping area of the transport device (see Figure 1). Once all of the paper stacks 2 have been cut out, the pallet 1 is transported by the circulating conveyor back to the stacking unit (the area on the left side of Figure 1) (see Figure 1).

<Conveyor device>
The transport device is made up of a robot arm 47 that is movable in three dimensions, and a transport hand unit 4 attached to the tip of the arm.
3, the transport hand unit 4 includes a base 46, and a lower gripping unit 41 and an upper gripping unit 42 which face each other vertically. In this embodiment, a case in which there are two lower gripping units 41 and two upper gripping units 42 is illustrated.

The lower gripping portion 41 and the upper gripping portion 42 are supported by the base 46 and extend in a direction (forward) away from the base 46. The lower gripping portion 41 and the upper gripping portion 42 are, for example, long, plate-like claw-shaped, and extend in the same direction.

In this embodiment, the upper gripping portion 42 can be displaced in a direction approaching or moving away from the lower gripping portion 41 by a linear motion device 44 such as a cylinder device. The lower gripping portion 41 may be displaceable up and down. The lower gripping portion 41 may be displaceable up and down.

In addition, by driving the robot arm 47 and rotating the base 46, the pair of lower gripping portion 41 and upper gripping portion 42 can be rotated about a rotation axis P that is parallel to the extension direction of the lower gripping portion 41 and upper gripping portion 42.

As shown in FIG. 3, the transport hand unit 4 further includes a side contact plate 45 and a front contact plate 43. Note that the side contact plate 45 is not shown in FIG. 3(a) for ease of understanding.

The front abutment plate 43 is arranged in a position where it can face the front of the paper stack 2 gripped by the lower gripping portion 41 and the upper gripping portion 42. The front abutment plate 43 has a surface shape that follows the shape of the opposing front portions of the gripped paper stack 2. The front abutment plate 43 may be composed of two or more abutment plates. The surface of each abutment plate is set to a surface shape and positional relationship that follows the shape of the opposing front portions of the paper stack 2. The front abutment plate 43 may be composed of two or more abutment plates. The surface of each abutment plate is set to a surface shape and positional relationship that follows the shape of the opposing front portions of the paper stack 2.

The side abutment plate 45 is arranged to the side as shown in FIG. 3(b) in a positional relationship in which the lower gripping portion 41 and the upper gripping portion 42 face each other vertically. In other words, the side abutment plate 45 is arranged in a position where it can face the side of the paper stack 2 gripped by the lower gripping portion 41 and the upper gripping portion 42. The side abutment plate 45 has a surface shape that imitates the shape of the opposing side portions of the gripped paper stack 2. The side abutment plate 45 may be composed of two or more abutment plates. The surface of each abutment plate is set to a surface shape and positional relationship that imitates the shape of the opposing side portions of the paper stack 2.

The transport device drives the robot arm 47 to move the transport hand unit 4, grasp one of the transported paper stacks 2, and transport it to the packaging destination.

For example, with the upper gripping portion 42 displaced upward, the lower gripping portion 41 is inserted into the gap between the slits 1A of the pallet 1 and then displaced upward so that the lower gripping portion 41 comes into contact with the underside of the paper stack 2, and is then raised until the paper stack 2 floats above the upper end surface of the slits 1A of the pallet 1 (for example, until it is separated by 3 mm).Then, the upper gripping portion 42 is lowered, and the paper stack 2 is gripped by the lower gripping portion 41 and the upper gripping portion 42.

Here, the position and status of each paper stack 2 on the pallet 1 is determined by a position/status detection sensor (not shown).

After the paper stack 2 is gripped as described above, the base 46 is moved upward, and then a swinging process is performed to align the gripped paper stack 2.
At this time, the paper stack 2 placed on the pallet 1 may have irregular bundle shifts in the lateral direction throughout the stack, as shown in Fig. 6. If the bundle shift remains in the paper stack 2, it becomes difficult to pack the paper stack 2 in a packing box with a narrow clearance. In view of this, it is preferable to lift the bottom surface of the paper stack 2 slightly above the pallet 1 (for example, within 3 mm) before gripping the paper stack 2 to prevent the paper stack 2 from rubbing against the top surface of the slit 1A and causing scratches, then move the paper stack 2 in parallel in the lateral direction by 10 mm in a direction away from the adjacent paper stacks (to the outside of the nearby pallet end), and then lift it again to complete the cutting out.

<Swing processing>
The swing process will now be described.
The control unit 140 of the conveying device includes a tilt processing unit 140A and a paper alignment processing unit 140B (see FIG. 1).

After gripping the paper stack 2 from above and below, the tilt processing unit 140A rotates and displaces the base 46 around the rotation axis P to assume a position in which the side contact plate 45 is positioned downward and the upper gripping unit 42 faces the upper gripping unit 42 in the left-right direction, as shown in FIG. 4(a). It also executes a process to assume a paper stack swinging position in which the front contact plate 43 is tilted downward in the front-rear direction. This process can be executed by the control unit 140 driving the robot arm 47.

When the paper alignment processing unit 140B determines that the paper stack has been placed in a paper stack swinging position, as shown in FIG. 4(b), it loosens the gripping force of the lower gripping unit 41 and the upper gripping unit 42, and then swings the base 46 to impart vibrations to the paper stack 2. The swinging of the base 46 is achieved by driving the robot arm 47, which constitutes the swinging mechanism.

When the gripping force of the lower gripping portion 41 and the upper gripping portion 42 is loosened in the paper stack swinging position, the unbundled paper stack 2 is displaced downward by its own weight, and the paper stack 2 abuts downward against the side abutment plate 45. Furthermore, the paper stack 2 is displaced along the side abutment plate 45 toward the front abutment plate 43 and abuts against the front abutment plate 43.

In this state, there is a possibility that some paper does not abut against the side abutment plate 45 and the front abutment plate 43 due to friction between the sheets of paper, and some paper follows the surfaces of the side abutment plate 45 and the front abutment plate 43 but does not abut against the surfaces of the side abutment plate 45 and the front abutment plate 43. For this reason, vibration is applied to the paper stack 2 by swinging the base 46, and processing is performed so that all the sheets of paper are aligned.
The swinging motion may be, for example, in at least one of the left-right direction and the up-down direction.

After the swinging process is completed, the conveying device again grips the paper stack 2 with the lower gripping portion 41 and the upper gripping portion 42, rotates and displaces the base 46 to return it to its initial position in which the lower gripping portion 41 and the upper gripping portion 42 face each other vertically, and then moves the conveying hand portion 4 to the packaging destination.
Then, the conveying device turns the held paper stack 2 upside down, and places the paper stack 2 on the destination pallet 5. In this state, the paper stack 2 is placed on the destination pallet 5 with the front surface facing downward.
The above-mentioned reversing operation is carried out, for example, after the transport hand unit 4 is moved to the packaging destination.

As shown in FIG. 1, the destination pallet 5 also has a number of slits 5A formed on the top surface (mounting surface) of the pallet in the same direction as the stacked pallet 1. However, as described below, the height of the slits 5A on the destination pallet 5 is higher than the height of the slits 1A on the stacked pallet 1. The height of the slits 5A is set to a height greater than the combined thickness of the upper gripping portion 42 and the maximum upward displacement of the upper gripping portion 42. The maximum displacement is the maximum amount that the upper gripping portion 42 can move relative to the base 46.

The conveying device moves the inverted, lower upper gripping section 42 so that it is positioned above the slits 5A of the destination pallet 5, and then lowers it so that the height of the support position for the underside of the paper stack by the upper gripping section 42 is 3 mm higher than the height of the top surface of the pallet 5. Next, the upper gripping section 42 is lowered in this state, thereby releasing the grip by the conveying device and placing the paper stack on the pallet 5. The conveying hand section 4 is then retracted and returned to its initial position.

By repeating this process, the paper bundles 2 for one packaging run are placed on the destination pallet 5.

<Paper stack storage device>
The paper bundle storage device covers the paper bundle 2 placed on the pallet 5 at the packaging destination with a packaging box 6 with an open bottom (the packaging box 6 turned upside down), and performs processing to store the paper bundle 2 placed on the pallet 5 at the packaging destination in the packaging box 6.

As shown in FIG. 1, the paper bundle storage device includes a packaging box inverting mechanism and a storage mechanism.
The packing box inversion mechanism grips a packing box 6 (empty box) with an open top and executes a process of inverting the packing box 6. In the example shown in Fig. 1, the packing box inversion mechanism is composed of a bar 71 that can rotate up and down, and suction cups 71A (suction device) provided on the bar 71. Then, after gripping the side walls of the packing box 6 with the suction cups 71A, the bar 71 is rotated up and down to invert the packing box 6 so that the opening faces downward.
The packaging box inversion mechanism may invert the packaging box 6 (empty box) with the top open by gripping two opposing side walls from both sides.

The storage mechanism 72 performs a process of placing the inverted packaging box 6 over the paper stacks 2 placed on the destination pallet 5. In the example shown in FIG. 1, the bottom part of the packaging box 6 facing upward is gripped by the suction cup 72A, and it is moved above the destination pallet 5, and then lowered to cover the paper stacks 2 placed on the destination pallet 5. At this time, the inner surface of the bottom part of the packaging box 6 is brought into contact with the upper surface of each paper stack 2.

Here, the packing box 6 with the top open has four open side portions 6A that form the top surface and extend diagonally outward and upward. The packing box 6 with the bottom open, turned upside down, has four side portions 6A that extend diagonally outward and downward. In Figure 1, the packing box 6 turned upside down and placed over the paper stack 2 is shown by dashed lines in approximately the center of Figure 1.

<Flap position correction mechanism>
It is preferable to provide a flap position correction mechanism that performs pre-processing before the inverted packaging box 6 is placed over the paper stack 2 placed on the destination pallet 5. By providing a flap position correction mechanism that corrects variations in the dimensions of the packaging box and the flap position, it becomes possible to cover the packaging box, invert the entire packaging box, and pack the paper stack 2 even in a packaging box with a narrow gap.
As shown in FIG. 7, the flap position correction mechanism has guide plates 53 arranged on the outside of each of the four sides of the packaging destination pallet 5.
The guide plate 53 is configured to move toward and away from the corresponding side of the pallet 5 by a cylinder device 54. The guide plate 53 has a height that allows it to face the side of the paper stack 2 placed on the pallet 5, as shown in FIG.
8, the flap position correction mechanism has a flap mechanism that guides the open four side portions 6A of the box 6 so that they are obliquely outward. The flap mechanism includes a rotation fulcrum 58 made of a rod or the like that is supported by the guide plate 53 and positioned above the guide plate 53, a flap plate 55, and a cylinder device 57 that drives the flap plate 55.
The flap plate 55 includes a flap body and a bent portion bent relative to the flap body, and is configured so that the position of the bent portion relative to the rotation fulcrum 58 changes with the extension and contraction of the cylinder device 57, thereby allowing the attitude of the flap body to change between a horizontal position (solid line in FIG. 8) and a vertical position (chain line in FIG. 8). In the horizontal position, the flap body is located above the stack of papers placed on it, and in the vertical position, the flap body is in a position where it can slide against the inner surface of the box to be covered.
This flap position correction mechanism brings the guide plate 53 close to the pallet 5, thereby preventing the position of the paper stack 2 from protruding outside the pallet 5 in a plan view.
When the box 6 to be covered is brought close, the flap body is changed from a horizontal position to a vertical position, thereby correcting the four side portions 6A so that they are reliably directed diagonally outward.
Thereafter, the covering box 6 is further lowered to bring the flap body into sliding contact with the inner surface of the box 6, and the pallet 5 is raised to store the paper stack 2, while the box 6 is also raised to a position where it does not interfere with the flap position correction mechanism.
Thereafter, the flap position correction mechanism is returned to the initial position.
This allows the paper stacks on the pallet to be centered and set at a position where they can be securely stored in the box, and also allows the paper stacks to be stored with the four side portions 6A reliably facing diagonally outward.

<Packing box reversal device>
The packing box inversion device, by the operation of a storage mechanism, places an inverted packing box 6 over the paper stack 2 placed on a pallet 5 to be packed, and when it is determined that the paper stack 2 has been stored in the packing box 6, executes a process of inverting the packing box 6 containing the paper stack 2 with the paper stack 2 still stored therein.

The packaging box inversion device includes a robot arm 86 and an inversion hand unit 8 .
The inversion hand unit 8 can be moved three-dimensionally by a robot arm 86 .

The inversion hand unit 8 has a scooping claw 81 and an upper holding unit 82A. In the initial state, the scooping claw 81 and the upper holding unit 82A are arranged opposite each other vertically (see FIG. 5(b)).

The scooping claws 81 are lower gripping parts that are inserted between the slits 5A of the destination pallet 5 to scoop up the paper stack 2 covered with the packaging box 6.
The upper pressing portion 82A is an upper gripping portion that presses the bottom surface of the packaging box 6 facing upward from above.

The scooping claw 81 is configured to be able to move forward and backward toward the upper pressing portion 82A.

Here, as shown in FIG. 5(a), the slits 5A of the destination pallet 5 are configured to a height that allows space to be provided below the four side portions 6A of the packaging box 6 that extend diagonally outward to allow the scooping claws 81 to be inserted.

Further, the upper surface of the scooping claw 81 does not come into contact with the packaging box 6 but comes into contact with the lower surface of the paper stack 2 inside the packaging box 6 .
Further, the upper pressing portion 82A of this embodiment is provided with a discharging mechanism 82 consisting of a plurality of conveying rollers.

Then, the robot arm 86 is driven to insert the scooping claws 81 between the slits 5A of the destination pallet 5 as shown in FIG. 5(b)→(c). At this time, as the scooping claws 81 are inserted, the upper pressing portion 82A is positioned above the bottom surface of the packaging box 6 as shown in FIG. 5(c).

Then, as shown in FIG. 5(d), when the scooping claw 81 is displaced upward relative to the upper pressing portion 82A, the scooping claw 81 comes into contact with the underside of the paper stack 2 inside the packing box 6 and rises further, so that the packing box 6 containing the paper stack 2 is gripped from above and below by the scooping claw 81 and the dispensing mechanism 82 of the upper pressing portion 82A.

Then, as shown in FIG. 5(e), the inversion hand unit 8 is displaced upward. After that, the robot arm 86 is driven to rotate the base 85 around the front-to-rear axis so that the top and bottom of the packing box 6 is turned upside down, and the packing box 6 is moved to the destination. After that, the scooping claws 81 are displaced upward to the state shown in FIG. 1. Note that in FIG. 1, the scooping claws 81 are shown in a simplified schematic manner, but as shown in FIG. 5, they are shaped to hold down only the paper stack 2 inside the packing box 6.

As shown in FIG. 1, the packaging box inversion device of this embodiment may be equipped with a misalignment prevention guide 89 that regulates the displacement of the side of the packaging box 6. The misalignment prevention guide 89 is made of a rod or plate that abuts against the side wall of the packaging box 6. The misalignment prevention guide 89 is fixed to the base 85 and extends in the same direction as the scooping claws 81. The misalignment prevention guide 89 may be provided on the entire side of the packaging box 6, but is preferably provided on the side that faces downward when the packaging box 6 is inverted. This misalignment guide is preferably capable of moving forward and backward.

When the packaging box 6 is positioned as shown in FIG. 1, it is discharged along the rollers of the dispensing mechanism 82 toward the next process. In FIG. 1, the reference numeral 9 denotes a conveyor 9 for dispensing to the next process.

Depending on the packaging specifications of the product being handled, paper-like plates (top/bottom pads) may be inserted into the bottom (base) and top (top) of the packaging box. In this case, a pad supply mechanism (not shown) that performs the following process may be provided. The pads are usually paper and made of cardboard or cardboard. The pads are shaped to fit the inner dimensions of the packaging box.
The pad supply mechanism includes a pad supply device that can, for example, use a suction cup to suck the topmost pad of a plurality of stocked pads, then move to a predetermined position and place the pad. Then, before the paper bundle storage device places a packaging box 6 on the paper bundle 2, it places a base pad on the paper bundle 2 placed on the pallet 5. In addition, after the packaging box inversion device inverts the packaging box 6 containing the paper bundle, it places a top pad on the top surface of the packaging box, for example, during transport to the next process after the box is inverted.
This makes it possible to place paper-like plates (top/bottom pads) on the bottom (base) and top (top) of the packaging box.
(Action etc.)
In this embodiment, the upper surface of the pallet 1 on the accumulation side is configured to have a gap into which the lower gripping portion 41 can be inserted, so that even if the paper stacks 2 loaded on the pallet 1 on the accumulation side are in an unbound state, the paper stacks 2 on the pallet can be gripped from above and below while preventing the paper stacks 2 from collapsing.

As a result, in this embodiment, the unbound paper bundles 2 can be transported from the pallet 1, which is the stacking unit, to the packaging destination and stored in the packaging box 6.

Furthermore, the destination pallet 5 is also configured with a gap on the upper surface into which the lower gripping portion 41 can be inserted, making it possible to place the unbound paper stack 2 on the destination pallet 5 while preventing the paper stack 2 from collapsing.
At this time, since the misalignment of the paper bundle 2 has been eliminated by the swinging process, it becomes possible to pack the paper bundle in a packing box 6 having a narrow gap.
By placing the paper stack 2 on the pallet 5 in an inverted state toward the center, it is possible to provide a large gap between the packaging box 6 and the paper stack 2.

Furthermore, the unbound paper stacks 2 on the destination pallet 5 can be covered from above with an upside-down packaging box 6 and then inverted to store the paper stacks 2 inside the packaging box 6.

At this time, by providing a dispensing mechanism 82 to the upper pressing portion 82A, it becomes easier to dispense the inverted packaging box 6 to the next process.

In addition, by directly contacting the scooping claws 81 with the paper stack 2 inside the packaging box 6, it is possible to prevent the paper stack 2 from collapsing inside the packaging box 6 when the packaging box 6 containing the paper stack 2 is inverted. Furthermore, by preventing the packaging box 6 from being displaced in the lateral direction by the misalignment guide when the packaging box 6 containing the paper stack 2 is inverted, it is possible to further suppress the lateral shift of the paper stack 2 inside the packaging box 6.

(others)
The present disclosure may also have the following configuration.
(1) An unbundled paper bundle packing device having a conveying device that grasps unbundled paper bundles placed on a pallet on the accumulation side and conveys them to a packaging destination, wherein a plurality of slits are formed in parallel on the upper surface of the pallet, and the unbundled paper bundles can be supported by the upper end surfaces of the plurality of slits, and the conveying device has a lower gripping portion that can be inserted between the slits of the pallet and an upper gripping portion that can abut against the upper surface of the paper bundle placed on the pallet, and the lower gripping portion and the upper gripping portion are capable of grasping the paper bundle on the pallet.
(2) The conveying device includes a side abutment plate capable of facing the side of the paper stack gripped by the lower gripping portion and the upper gripping portion, a front abutment plate capable of facing the front of the paper stack gripped by the lower gripping portion and the upper gripping portion, a base supporting the lower gripping portion, the upper gripping portion, the side abutment plate, and the front abutment plate, and a rocking mechanism that rocks the base.
(3) A tilt processing unit that rotates and displaces the base to position the side contact plate downward and the lower gripping portion and the upper gripping portion opposite each other in the left-right direction, and tilts the front contact plate downward in the front-to-back direction to assume a paper stack swinging position, and a paper alignment processing unit that, when it is determined that the paper stack swinging position has been reached, drives the swinging mechanism with the gripping force of the lower gripping portion and the upper gripping portion relaxed to impart vibration to the paper stack.
(4) A packaging pallet on which the paper stack transported by the transport device is placed, and a paper stack storage device that places a packaging box with an open bottom over the paper stack placed on the packaging pallet and stores the paper stack in the packaging box.
(5) The paper stack storage device includes a packing box inversion mechanism that grasps a packing box with an open top and inverts the packing box, and a storage mechanism that places the inverted packing box over the paper stack placed on the pallet at the packaging destination.
(6) A packaging box inversion device is provided which inverts the packaging box containing the paper stack with the paper stack still stored therein.
(7) The destination pallet has a plurality of slits formed in parallel on its top surface so that the paper stack can be supported by the upper end surfaces of the plurality of slits, and the packaging box inversion device is equipped with scooping claws that are inserted between the slits of the destination pallet to scoop up the paper stack covered with the packaging box, and an upper pressing portion that presses down on the upward-facing bottom surface of the packaging box from above.
(8) The packing box inversion device includes a misalignment prevention guide that regulates the displacement of the side surface of the packing box.
(9) The upper pressing unit is provided with a discharging mechanism that moves the packaging box to the next process after inversion.

1 Pallet 1A Slit 1Aa Top surface 2 Paper stack 4 Transport hand section (transport device)
41 Lower gripping portion 42 Upper gripping portion 43 Front contact plate 44 Linear motion device 45 Side contact plate 46 Base 47 Robot arm (transport device)
5 Pallet 5A Slit 6 Packaging box 6A Side portion 8 Reversing hand portion (packaging box reversing device)
81: scooping claw 82: delivery mechanism 82A: upper pressing portion 85: base portion 86: robot arm (packaging box inversion device)
89 Position shift prevention guide 71 Bar (packaging box inversion mechanism)
71A Suction cup (packaging box inversion mechanism)
72 Storage mechanism 72A Suction cup (storage mechanism)
140 Control unit 140A Inclination processing unit 140B Paper alignment processing unit

Claims (7)

An unbundled paper bundle packaging device having a conveying device that grips an unbundled paper bundle placed on a pallet on the accumulation side and conveys it to a packaging destination,
A plurality of slits are formed in parallel on the upper surface of the pallet, and the unbundled paper bundle can be supported by the upper end surfaces of the plurality of slits.
the conveying device includes a lower gripping portion that can be inserted between the slits of the pallet, and an upper gripping portion that can contact an upper surface of a stack of paper placed on the pallet, and the lower gripping portion and the upper gripping portion can grip the stack of paper on the pallet,
The conveying device is
a side abutment plate capable of facing a side of the paper stack gripped by the lower gripping portion and the upper gripping portion;
a front contact plate capable of facing a front surface of the paper stack gripped by the lower gripping portion and the upper gripping portion;
a base portion supporting the lower gripping portion, the upper gripping portion, the side contact plate, and the front contact plate;
A swing mechanism for swinging the base portion;
Equipped with
a tilt processing section that rotates and displaces the base section to a position in which the side contact plate is positioned downward and the lower gripping section and the upper gripping section are positioned opposite each other in the left-right direction, and that tilts the front contact plate downward in the front-rear direction to set the paper stack swinging position;
a paper alignment processing unit that, when it is determined that the paper stack has been placed in the paper stack swinging position, drives the swinging mechanism while loosening the gripping force of the lower gripping unit and the upper gripping unit to impart vibration to the paper stack;
An unbundled paper bundle packaging device comprising: a packaging pallet on which the paper bundle conveyed by the conveying device is placed;
a paper bundle storage device that places a packaging box having an open bottom on the paper bundle placed on the packaging destination pallet and stores the paper bundle in the packaging box;
The untied paper bundle packaging device according to claim 1 , comprising: The paper bundle storage device is
A packaging box inversion mechanism that grips an upper open packaging box and inverts the packaging box upside down;
a storage mechanism for placing the inverted packaging box over a bundle of paper placed on the packaging destination pallet;
The untied paper bundle packaging device according to claim 2 , further comprising: 4. The unbundled paper bundle packing device according to claim 2 , further comprising a packing box inverting device for inverting the packing box containing the paper bundle with the paper bundle still contained therein. The pallet on which the paper is to be packed has a plurality of slits formed in parallel on the upper surface thereof, and the paper bundle can be supported by the upper end surfaces of the plurality of slits.
The packaging box inversion device is
a scooping claw for inserting into the slit of the pallet at the packaging destination to scoop up the paper bundle covered with the packaging box;
an upper pressing portion that presses the bottom surface of the packaging box facing upward from above;
5. The unbundled paper bundle packaging device according to claim 4, further comprising: 6. The unbundled paper bundle packing device according to claim 4 , wherein the packing box inverting device includes a position shift prevention guide that regulates displacement of a side surface of the packing box. An upper pressing part is provided for pressing an upwardly facing bottom surface of the packaging box from above,
The unbundled paper bundle packing device according to any one of claims 4 to 6 , wherein the upper pressing portion is provided with a discharging mechanism that moves the packing box to a next process after inversion.

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